Title :
Command Shaping for Automated Convoy Vehicles
Author :
Robertson, Michael J.
Author_Institution :
Dept. of Weapons & Syst. Eng., United States Naval Acad., Annapolis, MD
Abstract :
This paper investigates the effects of command shaping techniques originally developed for flexible systems on the vehicle spacing and velocity control of automated vehicle convoys. The proposed approach is based on distance measurements between platoon vehicles. The lead vehicle longitudinal control is developed to follow a reference velocity. The follower vehicles maintain the desired spacing using only distance measurement to the preceding vehicle. When a command shaper is used to modify the reference velocity, errors in vehicle spacing are reduced. Additionally, this approach leads to more physically realizable controller efforts for the follower vehicles and helps maintain and improve string stability.
Keywords :
command and control systems; distance measurement; military vehicles; position control; road vehicles; velocity control; automated convoy vehicles; command shaping; distance measurement; flexible systems; lead vehicle longitudinal control; platoon vehicles; reference velocity; vehicle spacing; velocity control; Acceleration; Automatic control; Communication system control; Control systems; Remotely operated vehicles; Road vehicles; Sliding mode control; Stability; Vehicle driving; Velocity control;
Conference_Titel :
System Theory, 2007. SSST '07. Thirty-Ninth Southeastern Symposium on
Conference_Location :
Macon, GA
Print_ISBN :
1-4244-1126-2
Electronic_ISBN :
0094-2898
DOI :
10.1109/SSST.2007.352323